CN113908018A

CN113908018A - Force position sensing method and system for two-degree-of-freedom limb joint

Info

Publication number: CN113908018A
Application number: CN202111513781.0A
Authority: CN
Inventors: 李国涛; 高子文; 杨闳竣; 孙太任; 梁旭; 姜金刚
Original assignee: Institute of Automation of Chinese Academy of Science
Current assignee: Institute of Automation of Chinese Academy of Science
Priority date: 2021-12-13
Filing date: 2021-12-13
Publication date: 2022-01-11
Anticipated expiration: 2041-12-13
Also published as: CN113908018B

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to a force and position sensing method and system for two-degree-of-freedom limb joints, aiming at solving the problems that the force and position sensing of human joints cannot be realized and the damage is easily caused in the prior art; the method comprises the following steps: mandrel expected rotation angle based on acquisition

Actual rotation angle of mandrel

Judging the sizes of the two; if the two degrees of freedom are equal, judging that the motion part of the two-degree-of-freedom limb joint does not generate blocking force; if it is

Judging that the motion part of the two-degree-of-freedom limb joint generates the blocking force, and acquiring the actual transverse rotation angle of the motion part of the two-degree-of-freedom limb joint

Actual longitudinal rotation angle

Actual transverse rotational moment

Actual longitudinal rotational moment

To control whether the corresponding motor continues to rotate; the invention can monitor the force position sensing information of the joint in real time and realize safe and efficient flexible control and rehabilitation training.

Description

Force position sensing method and system for two-degree-of-freedom limb joint

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a force position sensing method and system for two-degree-of-freedom limb joints.

Background

With the development of society, the problem of aging population becomes more and more prominent, and the number of patients suffering from diseases such as cerebral apoplexy and arthritis is greatly increased, and the diseases can cause limb motility disorder of patients and seriously affect the daily life of the patients. Limb rehabilitation training is indispensable, and rehabilitation training can increase the exercise intensity of muscle tendon, restores or remolds impaired nerve through accomplishing motor learning, rebuilds or improves the motor function of patient's limbs.

However, since the number of rehabilitation doctors in China is small and the number of patients is large, it is necessary to design a rehabilitation robot which can replace rehabilitation doctors to perform rehabilitation exercise treatment on the patients, and the rehabilitation robot can help stroke patients to improve the motion capability of limbs, but the rehabilitation training device disclosed in the prior art has poor flexibility, cannot realize the position and moment perception of human joints, cannot acquire the position and moment information of actual motion in real time in the training process, and is easy to damage the device drive and the human joints.

Disclosure of Invention

In order to solve the problems in the prior art, namely to solve the problem that the scheme disclosed in the prior art cannot realize the force position sensing of the human body joint and is easy to cause damage, the invention provides a force position sensing method and system for a two-degree-of-freedom limb joint.

The invention provides a force position sensing method facing a two-degree-of-freedom limb joint, which comprises the following steps: step S100, obtaining the expected rotation angle of the mandrel based on the first angle detection component

And the actual rotation angle of the mandrel acquired by the second angle detection component

Obtaining

，

-

(ii) a The mandrel is a connecting shaft of the driving mechanism and the motion executing mechanism.

Step S200, if

Judging that the motion part of the two-degree-of-freedom limb joint does not generate blocking force, wherein the motion track of the two-degree-of-freedom limb joint is a preset motion track; if it is

Then, the motion part of the two-degree-of-freedom limb joint is determinedThe blocking force is generated, and step S300 is performed.

Step S300, acquiring the actual transverse rotation angle of the motion part of the two-degree-of-freedom limb joint

Actual longitudinal rotation angle of motion part of two-degree-of-freedom limb joint

Actual transverse turning moment of moving part of two-degree-of-freedom limb joint

Actual longitudinal rotation moment of motion part of two-degree-of-freedom limb joint

The master control center judges based on the acquired position information and moment information

And

a size of and

and

the size of (a); and/or, determining

And

size of and

and

the size of (c) between.

If it is

＜

，

＜

The master control center controls the linear motor to continue rotating based on the priority that the rotating angle is higher than the rotating torque so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotating angle

Or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotating torque

。

If it is

＜

，

=

And the master control center controls the linear motor to stop.

If it is

=

，

＜

The master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque, or the master control center controls the linear motor to continue to rotate based on the priority that the rotation torque is higher than the rotation angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotation torque

。

And/or, if

＜

，

＜

The master control center controls the linear motor to continue rotating based on the priority that the rotating angle is higher than the rotating torque so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotating angle

Or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotating torque

。

If it is

＜

，

=

And the master control center controls the linear motor to stop.

If it is

=

，

＜

The master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque, or the master control center controls the linear motor to continue to rotate based on the priority that the rotation torque is higher than the rotation angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotation torque

。

In some of the preferred embodiments, the first and second,

；

。

the distance between the longitudinal axis of the rack driven by the linear motor and the longitudinal axis of the mandrel; the tail end of a rack driven by a linear motor is fixedly connected with a bearing structure of a rotating motor, the tail end of the bearing structure of the rotating motor is fixedly connected with a mandrel, and the rack is slidably connected with a rack support fixedly arranged in a first area of a two-degree-of-freedom limb joint;

the distance between the longitudinal axis of the mandrel and the longitudinal axis of a tail end hinging shaft of the motion executing mechanism;

the distance between the longitudinal axis of the tail end articulated shaft of the motion executing mechanism and the surface of the passive slide block;

the distance between the top plane of the passive sliding block and the longitudinal central axis of the motion part of the two-degree-of-freedom limb joint; the passive sliding block and a limiting guide rail fixedly arranged at a motion part of the two-degree-of-freedom limb joint are arranged in a sliding manner;

the distance between the vertical plane of the first guide rail assembly and the second guide rail assembly which bear the rotating motor and the longitudinal axis of the rotating motor;

the actual rotation angle of the mandrel is acquired by the second angle detection assembly;

the horizontal distance between the center of an initial point of a rotating motor and the rotating center of the two-degree-of-freedom limb joint is set; the center of the initial point of the rotating motor is the central point of the first guide rail assembly and the second guide rail assembly;

is the vertical distance between the initial point center of the rotating motor and the rotating center of the two-freedom-degree limb joint.

In some of the preferred embodiments, the first and second,

；

；

；

。

；

；

；

；

；

；

；

。

the linear displacement of the rotating motor detected by the linear displacement sensor;

is arranged at the end of a rack driven by a linear motorThe stiffness of the buffer spring between the end and the bearing structure of the rotating electrical machine;

the rotation angle of the linear motor;

is the module of a gear fixedly arranged on the output shaft of the linear motor;

the number of teeth of the gear is fixedly arranged on the output shaft of the linear motor;

the rigidity of the Archimedes spiral spring is that the Archimedes spiral spring is sleeved and fixedly arranged in the middle of the mandrel.

In some preferred embodiments, the linear motor is fixedly arranged at a first area of a two-degree-of-freedom limb joint; the first guide rail assembly comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the first sliding block and the top of the first guide rail are movably arranged, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure.

The second guide rail assembly comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail are movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure.

The longitudinal axis of the first guide rail assembly and the longitudinal axis of the second guide rail assembly are arranged in parallel with the longitudinal axis of the rack; the longitudinal axis of the rotating motor is perpendicular to the longitudinal axis of the rack.

The two sides of the tail end of the rack are respectively provided with a first connecting lug and a second connecting lug, the side part of the bearing structure is provided with a first connecting shaft and a second connecting shaft, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug.

The buffer spring comprises a first spring, a second spring, a third spring and a fourth spring; the first spring, the second spring, the third spring and the fourth spring are respectively sleeved on a shaft section between the bearing structure and the first connecting lug, a shaft section between the first connecting lug and the tail end limit of the first connecting shaft, a shaft section between the bearing structure and the second connecting lug and a shaft section between the second connecting lug and the tail end limit of the second connecting shaft; the stiffness and the length of the first spring, the second spring, the third spring and the fourth spring are the same.

In some preferred embodiments, a longitudinal axis of the linear displacement sensor is disposed in parallel with a longitudinal axis of the rack to detect a linear displacement amount of the rotary electric machine.

In some preferred embodiments, the bearing structure comprises a first bottom plate, a second bottom plate, a first bracket, a second bracket, a first L-shaped plate and a second L-shaped plate, wherein the first bracket is arranged at the end of the first bottom plate far away from the second bottom plate, and the second bracket is arranged between the first bottom plate and the second bottom plate; the first L-shaped plate and the second L-shaped plate are arranged at the end part, far away from the first bottom plate, of the second bottom plate, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening; the first base plate is used for bearing the rotating motor.

A spherical connecting rod mechanism is arranged between the power output end of the rotating motor and the mandrel, the spherical connecting rod mechanism comprises a first spherical connecting rod, a second spherical connecting rod and a third spherical connecting rod, and one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axis extension line of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing track of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod moves along the sphere.

The third spherical connecting rod comprises a sleeve part and a convex part connected with the second spherical connecting rod; the sleeve part is sleeved on the mandrel; the side wall of the end part of the sleeve part, which is far away from the bulge part, is provided with a first clamping groove and a second clamping groove; the Archimedes spiral spring comprises an Archimedes spring body, a first limiting bulge and a second limiting bulge, wherein a connecting line of the first limiting bulge and the second limiting bulge passes through the center of the Archimedes spiral spring; the first limiting bulge and the second limiting bulge are respectively clamped in the first clamping groove and the second clamping groove; the first angle detection assembly is arranged on one side, away from the Archimedes spiral spring, of the sleeve part and is used for detecting a desired rotation angle of the mandrel; the second angle detection assembly is arranged at the end part of the mandrel far away from the sleeve part and is used for detecting the actual rotation angle of the mandrel.

In some preferred embodiments, a sleeve cross hinge is sleeved outside the mandrel, the sleeve cross hinge comprises a sleeve body, a first protrusion, a second protrusion, a first arc-shaped hole, a second arc-shaped hole and a third arc-shaped hole, and the first protrusion is arranged at the top of the sleeve body and connected with the first L-shaped plate; the second bulge is arranged at the bottom of the sleeve body and connected with the second L-shaped plate; the first arc-shaped hole is used for penetrating the bulge part; the second arc-shaped hole and the third arc-shaped hole are used for the first swinging rod of the motion executing mechanism to penetrate; the first angle detection assembly and the second angle detection assembly are respectively arranged at two ends of the sleeve body.

In some preferred embodiments, the motion actuator further comprises a second swing rod and a C-shaped block, the second swing rod is disposed between the first swing rod and the C-shaped block, and the end of the second swing rod is hinged to a hinge shaft disposed on the C-shaped block.

The C-shaped block is fixedly arranged at the top of the passive sliding block, the limiting guide rail is fixedly arranged in a second area of the two-degree-of-freedom limb joint, and the longitudinal axis of the limiting guide rail is consistent with the longitudinal axis of the limb joint in the second area.

In some preferred embodiments, the mandrel is a waist shaft.

The first swinging rod comprises a first structure and a second structure, and the first structure and the second structure form a C-shaped rod structure; a first waist-shaped hole penetrating through the mandrel is formed in the free end of the first structure; a second waist-shaped hole penetrating through the mandrel is formed in the free end of the second structure; the first waist-shaped hole and the second waist-shaped hole are symmetrically arranged relative to the Archimedes spiral spring.

The second swinging rod is of an arc-shaped structure.

The first angle detection assembly comprises a first magnetic resistance angle sensor and a first rubidium magnet magnetic ring, the first magnetic resistance angle sensor is arranged at one end of the cross hinge of the sleeve, and the first rubidium magnet magnetic ring is sleeved on the waist-shaped shaft and clings to the sleeve part; the second angle detection assembly comprises a second magnetic resistance angle sensor and a second rubidium magnet magnetic ring, the second magnetic resistance angle sensor is arranged at the other end of the sleeve cross hinge, and the second rubidium magnet magnetic ring is sleeved on the waist-shaped shaft.

And a roller bearing is arranged between the second rubidium magnet magnetic ring and the second structure.

A first sliding bearing is arranged between the second structure and the Archimedes spiral spring.

A second sliding bearing is arranged between the Archimedes spiral spring and the first structure.

And a third sliding bearing is arranged between the first structure and the first rubidium magnet magnetic ring and is used for bearing the sleeve part.

The invention provides a force and position sensing system facing a two-degree-of-freedom limb joint, which comprises a master control center, a linear motor, a rack component, a linear displacement sensor, a first angle detection component, a second angle detection component, a rotary motor, a bearing structure, a first guide rail component, a second guide rail component, a spherical connecting rod mechanism and a motion execution mechanism, wherein the linear motor, the linear displacement sensor, the first angle detection component, the second angle detection component and the rotary motor are in signal connection with the master control center; the bearing structure is used for bearing the rotating motor; the motion executing mechanism drives the motion part of the two-degree-of-freedom limb joint to swing under the driving of the linear motor, drives the motion part of the two-degree-of-freedom limb joint to bend and extend under the driving of the rotary motor, or drives the motion part of the two-degree-of-freedom limb joint to do conical motion under the simultaneous driving of the linear motor and the rotary motor.

The first guide rail assembly comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the first sliding block and the top of the first guide rail are movably arranged, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure; the second guide rail assembly comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail are movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure.

The linear motor is fixedly arranged in a first area of the two-degree-of-freedom limb joint; the output end of the linear motor is fixedly provided with a gear; the rack component comprises a rack meshed with the gear and a rack bracket fixedly arranged in a first area of the two-degree-of-freedom limb joint; a first connecting lug and a second connecting lug are respectively arranged on two sides of the tail end of the rack, a first connecting shaft and a second connecting shaft are arranged on the side part of the bearing structure, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug; the bearing structure and the shaft section between the first connecting lugs, the first connecting lugs and the shaft section between the tail ends of the first connecting shafts, the bearing structure and the shaft section between the second connecting lugs and the shaft section between the tail ends of the second connecting shafts are respectively sleeved with a first spring, a second spring, a third spring and a fourth spring with the same parameters.

The linear displacement sensor is used for detecting the actual linear displacement of the rotating motor.

The end part of the bearing structure is provided with a first L-shaped plate and a second L-shaped plate, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening.

The spherical connecting rod mechanism comprises a first spherical connecting rod, a second spherical connecting rod and a third spherical connecting rod, and one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axis extension line of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing track of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod moves along the sphere.

A connecting shaft of the rotating motor and the motion executing mechanism is a mandrel, the mandrel is a waist-shaped shaft, and an Archimedes spiral spring is sleeved in the middle of the waist-shaped shaft; the third spherical connecting rod comprises a sleeve part and a convex part connected with the second spherical connecting rod; the sleeve part is sleeved on the mandrel; the side wall of the end part of the sleeve part far away from the lug boss is provided with a first limiting lug, a first clamping groove and a second clamping groove, wherein the first limiting lug and the second limiting lug are clamped on the Archimedes spiral spring; the first angle detection assembly is arranged on one side, away from the Archimedes spiral spring, of the sleeve part and is used for detecting a desired rotation angle of the mandrel; the second angle detection assembly is arranged at the end part of the mandrel far away from the sleeve part and is used for detecting the actual rotation angle of the mandrel.

The invention has the beneficial effects that: 1) the invention discloses a force position sensing method for a two-degree-of-freedom limb joint, which can obtain an actual transverse rotation angle, an actual longitudinal rotation angle, an actual transverse rotation moment and an actual longitudinal rotation moment of a motion part of the two-degree-of-freedom limb joint, realize position and moment sensing of the two-degree-of-freedom human limb joint, realize flexible control of the two-degree-of-freedom joint of a human body, break through the defects of single motion function, poor wearing comfort and the like of the existing human body joint exoskeleton, provide a solution for fine motion in rehabilitation, and effectively solve the bottleneck problem that the existing human body joint exoskeleton cannot carry out force position sensing information interaction and flexible control.

2) The invention provides a force position sensing system facing two-degree-of-freedom limb joints, which is a force position sensing and driving integrated flexible rehabilitation exoskeleton device facing two-degree-of-freedom human limb joints, and has the advantages of compact structure, small volume, light weight and wide motion range, the protectiveness and comfort for the patient joints are improved, the burden of the patient and unnecessary compression or stretching on the joints are reduced, and the two-degree-of-freedom motion of the joints, conical motion and other complex motion forms can be realized; the invention can monitor the angle position information and the human-computer interaction force information of the joint in real time, improve the information interaction between the exoskeleton robot and the patient, and realize the compliant auxiliary motion control by a simple industrial control method; the automatic rehabilitation training device has the advantages of high automation degree, good force transmission benefit, capability of executing a rehabilitation training process with high repeatability and high labor intensity, and is favorable for improving the rehabilitation training effect.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a force position sensing method facing a two-degree-of-freedom limb joint in the invention.

Fig. 2 is a schematic diagram of an adaptive exoskeleton kinematics chain and a two-degree-of-freedom limb joint kinematics chain according to an embodiment of the two-degree-of-freedom limb joint oriented force position sensing method of the present invention.

Fig. 3 is a schematic perspective view of a force position sensing device facing a two-degree-of-freedom limb joint according to an embodiment of the present invention.

Fig. 4 is another angular schematic of fig. 3.

FIG. 5 is a schematic view of the motion actuator and angle detection assembly of FIG. 4;

fig. 6 is a perspective view of the cross-hinge of the sleeve of fig. 4.

Figure 7 is a schematic view of the load bearing structure of figure 4 and the connection of the cross-hinges of the sleeve.

Fig. 8 is a schematic structural view of the elastic driver in fig. 4.

Fig. 9 is a schematic view of the angle sensing assembly of fig. 8.

Fig. 10 is a schematic view of the third spherical connecting rod of fig. 4 connected to an archimedes coil spring.

Description of reference numerals: 100. a joint fixing base; 110. a first base, 120, a second base; 111. a first snap assembly, 112, a second snap assembly; 200. a linear drive mechanism; 210. a first guide rail assembly 211, a first guide rail 212, a first slider; 220. a second guide rail assembly 221, a second guide rail 222 and a second sliding block; 230. a third rail assembly 231, a third rail 232, a third slider; 240. a first fixed bracket; 251. a rack bracket 2511, a first connecting lug 2512, a second connecting lug 252 and a rack; 260. a linear motor; 270. a linear displacement sensor; 280. a gear; 300. a spherical connecting rod driving mechanism; 310. the bearing structure 311, the first bracket 312, the second bracket 313, the first bottom plate 314, the second bottom plate 315, the first L-shaped plate 316, the second L-shaped plate 317, the first refining shaft 318 and the second connecting shaft; 320. a rotating electric machine; 330. a spherical link mechanism 331, a first spherical link 332, a second spherical link 333, a third spherical link 3331, a boss 3332, a sleeve portion 3333, a first engaging groove 3334, and a second engaging groove; 341. the device comprises a mandrel, 342, a roller bearing, 343, a first sliding bearing, 344, an Archimedes spiral spring, 3441, an Archimedes spring body, 3442, a first limit bulge, 3443 and a second limit bulge; 345. a second slide bearing, 346, a third slide bearing; 350. sleeve cross hinge; 351. the sleeve comprises a sleeve body, 352, a first protrusion, 353, a second protrusion, 354, a first arc-shaped hole, 355, a second arc-shaped hole, 356 and a third arc-shaped hole; 361. a first angle detection assembly 3611, a first magnetoresistive angle sensor 3612 and a first rubidium magnet magnetic ring; 362. a second angle detection assembly 3621, a second magnetoresistive angle sensor 3622 and a second rubidium magnet magnetic ring; 371. a first spring, 372, a second spring, 373, a third spring, 374, a fourth spring; 400. a motion actuator; 410. a first oscillating lever, 411, a first structure, 412, a second structure; 420. a second swing lever; 430. a C-shaped block; 440. fixed guide rail subassembly, 441, fixed guide rail, 442, passive slider.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

Obtaining

，

-

(ii) a The mandrel is a connecting shaft of the driving mechanism and the motion executing mechanism; step S200, if

If so, it is judged as a two-degree-of-freedom limbThe motion part of the body joint does not generate blocking force, and the motion trail of the two-degree-of-freedom limb joint is a preset motion trail; if it is

If yes, judging that the motion part of the two-degree-of-freedom limb joint generates blocking force, and executing the step S300; step S300, acquiring the actual transverse rotation angle of the motion part of the two-degree-of-freedom limb joint

And

a size of and

and

the size of (a); and/or, determining

And

size of and

and

the size of (a); if it is

＜

，

＜

(ii) a If it is

＜

，

=

The master control center controls the linear motor to stop; if it is

=

，

＜

(ii) a And/or, if

＜

，

＜

Or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the two-degree-of-freedom limbThe motion part of the body joint reaches the preset longitudinal rotation moment

(ii) a If it is

＜

，

=

The master control center controls the linear motor to stop; if it is

=

，

＜

。

Referring to fig. 1 and 2, a first aspect of the present invention provides a force position sensing method for a two-degree-of-freedom limb joint, the method comprising the following steps: step S100, obtaining the expected rotation angle of the mandrel based on the first angle detection component

Obtaining

，

-

(ii) a The mandrel is a connecting shaft of the driving mechanism and the motion executing mechanism; and judging whether the training of the motion part of the two-degree-of-freedom limb joint is consistent with the preset motion or not by judging the difference value to obtain the state in the training process of the two-degree-of-freedom limb joint.

Step S200, if

If it is determined that the blocking force is generated in the motion portion of the two-degree-of-freedom limb joint, step S300 is performed to perform the actual motion state of the motion portion of the two-degree-of-freedom limb joint during the training.

Two-degree-of-freedom limb joint movementActual transverse rotating moment of moving part

And

a size of and

and

the size of (a); and/or, determining

And

size of and

and

the size of (c) between.

In the position control mode, if

＜

，

＜

。

If it is

＜

，

=

And the master control center controls the linear motor to stop so as to protect the limb joints, because in this case, the limb joints generally have spastic and cramped states.

If it is

=

，

＜

And the master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque because the preset angle value is reached.

In the torque control mode: if it is

＜

，

＜

The master control center controls the linear motor to continue rotating to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotating torque

。

If it is

＜

，

=

And the master control center controls the linear motor to stop based on the priority that the rotating torque is higher than the rotating angle, because the preset transverse torque value is reached.

If it is

=

，

＜

Then, thenThe master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotating torque

。

And/or, in the position control mode, if

＜

，

＜

The master control center controls the linear motor to continue rotating based on the priority that the rotating angle is higher than the rotating torque so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to rotate to reach the preset longitudinal rotating angle

. If it is

＜

，

=

The master control center controls the linear motor to stop so as to protect the limb joints, because the limb joints generally have spasticity and cramps under the condition; if it is

=

，

＜

And the master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque.

In the torque control mode, if

＜

，

＜

. If it is

＜

，

=

The master control center is higher than the rotation angle based on the rotation torqueThe priority of (3) controls the linear motor to stop because the preset longitudinal torque value is reached. If it is

=

，

＜

The master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotating torque

。

Wherein the content of the first and second substances,

；

。

。

。

。

。

。

；

；

；

。

。

。

。

；

=

；

；

；

；

；

。

is the stiffness of a buffer spring arranged between the tail end of a rack driven by a linear motor and a bearing structure of a rotating motor;

the rotation angle of the linear motor;

is fixedly arranged on the output shaft of the linear motorThe number of teeth of the gear (d);

Referring further to fig. 3 to 10, the linear motor 260 is fixedly disposed in the first region of the two-degree-of-freedom limb joint, in this embodiment, the linear motor is fixed to the first base 110 through the first fixing bracket 240, and the first base and the first region of the two-degree-of-freedom limb joint are fixedly connected through the first fastening component 111; the gear 280 is fixedly disposed on a power output shaft of the linear motor. The first guiding rail assembly 220 includes a first guiding rail 221 and a first sliding block 222, the first guiding rail is fixedly disposed in a first region of the two-degree-of-freedom limb joint, the bottom of the first sliding block is movably disposed with the top of the first guiding rail, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure 310. The second guide rail assembly 230 comprises a second guide rail 231 and a second sliding block 232, the second guide rail is fixedly arranged in the first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail are movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure; the longitudinal axis of the first guide rail assembly and the longitudinal axis of the second guide rail assembly are arranged in parallel with the longitudinal axis of the rack; the longitudinal axis of the rotary motor 320 is disposed perpendicular to the longitudinal axis of the rack 252.

Further, a rack support 251 is arranged at the bottom of the rack, a third sliding block 211 is arranged at the bottom of the rack support, a third guide rail 231 is arranged at the bottom of the third sliding block, the third guide rail is fixedly connected with the first base, and the third sliding block is slidably connected with the third guide rail.

A first connecting lug 2511 and a second connecting lug 2512 are respectively arranged on two sides of the tail end of the rack, a first connecting shaft 317 and a second connecting shaft 318 are arranged on the side part of the bearing structure, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug; the buffer springs include a first spring 371, a second spring 372, a third spring 373, and a fourth spring 374; a first spring, a second spring, a third spring and a fourth spring are respectively sleeved on a shaft section between the bearing structure and the first connecting lug, a shaft section between the first connecting lug and the tail end limit of the first connecting shaft, a shaft section between the bearing structure and the second connecting lug and a shaft section between the second connecting lug and the tail end limit of the second connecting shaft; the first spring, the second spring, the third spring and the fourth spring have the same rigidity and length.

Preferably, a longitudinal axis of the linear displacement sensor 270 is disposed in parallel with a longitudinal axis of the rack gear to detect a linear displacement amount of the rotary electric machine.

Further, the bearing structure comprises a first bottom plate 313, a second bottom plate 314, a first bracket 311, a second bracket 312, a first L-shaped plate 315 and a second L-shaped plate 316, wherein the first bracket is arranged at the end part of the first bottom plate far away from the second bottom plate, and the second bracket is arranged between the first bottom plate and the second bottom plate; the first L-shaped plate and the second L-shaped plate are arranged at the end part of the second bottom plate far away from the first bottom plate, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening; the first base plate is used for bearing the rotating motor.

A spherical connecting rod mechanism 330 is arranged between the power output end of the rotating motor and the mandrel, the spherical connecting rod mechanism comprises a first spherical connecting rod 331, a second spherical connecting rod 332 and a third spherical connecting rod 333, and one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axial line extension lines of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of the virtual sphere with the preset radius, and the swing tracks of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod move along the sphere. In the present embodiment, the rotating motor and the spherical link mechanism constitute a spherical link assembly 300.

Further, the third spherical link includes a sleeve portion 3332, a boss portion 3331 connected to the second spherical link; the sleeve portion is sleeved on the core shaft 341; the side wall of the end part of the sleeve part far away from the lug boss is provided with a first clamping groove 3333 and a second clamping groove 3334.

The archimedes coil spring 344 includes an archimedes spring body 3441, a first limit protrusion 3442 and a second limit protrusion 3443, and a connecting line of the first limit protrusion and the second limit protrusion passes through the center of the archimedes coil spring; the first limiting bulge and the second limiting bulge are respectively clamped in the first clamping groove and the second clamping groove; the first angle detection assembly 361 is arranged on one side of the sleeve part far away from the Archimedes spiral spring and is used for detecting the expected rotation angle of the mandrel; the second angle detecting assembly 362 is disposed at an end of the spindle away from the sleeve portion for detecting an actual rotation angle of the spindle.

A sleeve cross hinge 350 is sleeved on the outer side of the mandrel and comprises a sleeve body 351, a first protrusion 352, a second protrusion 353, a first arc-shaped hole 354, a second arc-shaped hole 355 and a third arc-shaped hole 356, and the first protrusion is arranged at the top of the sleeve body and connected with the first L-shaped plate; the second bulge is arranged at the bottom of the sleeve body and connected with the second L-shaped plate; the first arc-shaped hole is used for penetrating the bulge; the second arc-shaped hole and the third arc-shaped hole are used for the penetration of a first swing rod of the motion executing mechanism; the first angle detection assembly and the second angle detection assembly are respectively arranged at two ends of the sleeve body.

The motion executing mechanism 400 further comprises a second swing rod 420 and a C-shaped block 430, the second swing rod is arranged between the first swing rod 410 and the C-shaped block, and the tail end of the second swing rod is hinged with a hinge shaft arranged on the C-shaped block; the second swing rod is an arc-shaped rod and is fixedly connected with the first swing rod.

The C-shaped block is fixedly arranged at the top of the driven sliding block 442, the limiting guide rail 441 is fixedly arranged on the second base 120, the second base is fixedly connected with a second area of the two-degree-of-freedom limb joint through a second buckle assembly 112, and the longitudinal axis of the limiting guide rail is consistent with the longitudinal axis of the limb joint in the second area; in this embodiment, the curb rails and passive slides form a fixed rail assembly 440. In the present embodiment, the first base and the second base constitute a joint fixing base 100.

Further, the mandrel is a waist-shaped shaft; the first swing lever comprises a first structure 411 and a second structure 412, which form a C-shaped rod structure; the free end of the first structure is provided with a first waist-shaped hole penetrating through the mandrel; the free end of the second structure is provided with a second waist-shaped hole penetrating through the mandrel; the first waist-shaped hole and the second waist-shaped hole are symmetrically arranged relative to the Archimedes spiral spring; the second swinging rod is of an arc-shaped structure.

The first angle detection assembly comprises a first magnetic resistance angle sensor 3611 and a first rubidium magnet magnetic ring 3612, the first magnetic resistance angle sensor is arranged at one end of a cross hinge of the sleeve, and the first rubidium magnet magnetic ring is sleeved on the waist-shaped shaft and is tightly attached to the sleeve part; the second angle detection assembly comprises a second magnetoresistive angle sensor 3621 and a second rubidium magnet magnetic ring 3622, the second magnetoresistive angle sensor is arranged at the other end of the cross hinge of the sleeve, and the second rubidium magnet magnetic ring is sleeved on the waist-shaped shaft; a roller bearing 342 is arranged between the second rubidium magnet magnetic ring and the second structure; a first sliding bearing 343 is arranged between the second structure and the archimedes spiral spring; a second sliding bearing 345 is arranged between the Archimedes spiral spring and the first structure; a third sliding bearing 346 is arranged between the first structure and the first rubidium magnet magnetic ring, and the third sliding bearing is used for bearing the sleeve portion.

The invention discloses a force position sensing system facing to a two-degree-of-freedom limb joint, which comprises a master control center, a linear motor, a rack component, a linear displacement sensor, a first angle detection component, a second angle detection component, a rotary motor, a bearing structure, a first guide rail component, a second guide rail component, a spherical connecting rod mechanism and a motion execution mechanism, wherein the linear motor, the linear displacement sensor, the first angle detection component, the second angle detection component and the rotary motor are in signal connection with the master control center; the bearing structure is used for bearing the rotating motor; the motion executing mechanism drives the motion part of the two-degree-of-freedom limb joint to swing under the drive of the linear motor, drives the motion part of the two-degree-of-freedom limb joint to bend and extend under the drive of the rotary motor, or drives the motion part of the two-degree-of-freedom limb joint to do conical motion under the simultaneous drive of the linear motor and the rotary motor. The first guide rail assembly comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the first sliding block and the top of the first guide rail are movably arranged, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure; the second guide rail assembly comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail can be movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure. The linear motor is fixedly arranged in a first area of the two-degree-of-freedom limb joint; the output end of the linear motor is fixedly provided with a gear; the rack component comprises a rack meshed with the gear and a rack bracket fixedly arranged in a first area of the two-degree-of-freedom limb joint; a first connecting lug and a second connecting lug are respectively arranged on two sides of the tail end of the rack, a first connecting shaft and a second connecting shaft are arranged on the side part of the bearing structure, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug; a first spring, a second spring, a third spring and a fourth spring with consistent parameters are respectively sleeved on a shaft section between the bearing structure and the first connecting lug, a shaft section between the first connecting lug and the tail end limit of the first connecting shaft, a shaft section between the bearing structure and the second connecting lug and a shaft section between the second connecting lug and the tail end limit of the second connecting shaft; the linear displacement sensor is used for detecting the actual linear displacement of the rotating motor. The end part of the bearing structure is provided with a first L-shaped plate and a second L-shaped plate, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening. The spherical connecting rod mechanism comprises a first spherical connecting rod, a second spherical connecting rod and a third spherical connecting rod, wherein one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axial line extension lines of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of the virtual sphere with the preset radius, and the swing tracks of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod move along the sphere. Furthermore, a connecting shaft of the rotating motor and the motion executing mechanism is a mandrel, the mandrel is a waist-shaped shaft, and an Archimedes spiral spring is sleeved in the middle of the waist-shaped shaft; the third spherical connecting rod comprises a sleeve part and a convex part connected with the second spherical connecting rod; the sleeve part is sleeved on the mandrel; the side wall of the end part of the sleeve part far away from the lug boss is provided with a first limiting lug, a first clamping groove and a second clamping groove, wherein the first limiting lug and the second limiting lug are clamped on the Archimedes spiral spring; the first angle detection assembly is arranged on one side of the sleeve part far away from the Archimedes spiral spring and is used for detecting the expected rotation angle of the mandrel, in the embodiment, the rotation angle of the third swinging rod is actually detected; the second angle detection assembly is arranged at the end part of the mandrel far away from the sleeve part and used for detecting the actual rotation angle of the mandrel.

In a second embodiment of the invention, the master control center is based on the desired rotation angle of the spindle obtained by the first angle detection component

Obtaining

，

-

(ii) a Judgment of

A value of, if

If it is determined that the two-degree-of-freedom limb joint generates the blocking force, the actual lateral rotation angle of the motion part of the two-degree-of-freedom limb joint is obtained

The central control center is based on the acquired position information (i.e. the

And

) And moment information (i.e.

And

) Judgment of

And

a size of and

and

the size of (a); and/or, determining

And

size of and

and

the size of (a); the method specifically comprises three conditions, wherein the first condition is that only two-degree-of-freedom limb joint which only needs to be subjected to transverse swing rehabilitation training or detection

And

a size of and

and

judging the size of the interval; the second is that only two-degree-of-freedom limb joint which only needs to be subjected to longitudinal (i.e. flexion and extension direction) swing rehabilitation training or detection is required

And

size of and

and

judging the size of the interval; the third is that for the two-freedom-degree limb joint which needs to carry out rehabilitation training or detection of complex motions such as a cone and the like at the same time, the joint needs to be trained

And

the size between,

And

the size between,

And

size of and

and

the size of the two is judged at the same time.

If it is

＜

，

＜

I.e. the system is in position control mode at this time; or the master control center controls the linear motor to continue based on the priority that the rotating torque is higher than the rotating angleRotate to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse rotation torque

I.e. the system is now in torque control mode.

If it is

＜

，

=

The master control center controls the linear motor to stop, and the purpose of controlling the linear motor to stop by the master control center is to protect the joint when the system is in a position control mode; when the system is in a torque control mode, the purpose that the master control center controls the linear motor to stop is to achieve specified torque.

If it is

=

，

＜

The master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque, namely the system is in a position control mode at the moment and reaches a specified position; or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion execution mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset transverse directionMoment of rotation

Namely, the system is in a torque control mode at the moment, and the motor continues to rotate when the specified torque is not reached.

And/or, if

＜

，

＜

I.e. the system is in position control mode at this time; or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotating torque

I.e. the system is now in torque control mode.

If it is

＜

，

=

The master control center controls the linear motor to stop; when the system is in a position control mode, the master control center controls the linear motor to stop so as to protect the joint; when the system is in a torque control mode, the purpose that the master control center controls the linear motor to stop is to achieve specified torque.

If it is

=

，

＜

The master control center controls the linear motor to stop based on the priority that the rotation angle is higher than the rotation torque, namely the system is in a position control mode at the moment and reaches a specified position; or the master control center controls the linear motor to continue rotating based on the priority that the rotating torque is higher than the rotating angle so as to control the motion executing mechanism to drive the motion part of the two-degree-of-freedom limb joint to reach the preset longitudinal rotating torque

The device disclosed by the invention has the advantages of compact structure, small volume, light weight and wide movement range, can realize various movement postures of the joint, such as horizontal bending, transverse bending, conical movement and the like, can monitor the angle position information and the man-machine interaction force information of the joint in real time, improves the information interaction between the exoskeleton robot and a patient, and can realize the compliant auxiliary movement control by a simple industrial control method; the automatic rehabilitation training device has the advantages of high automation degree, good force transmission benefit, capability of executing a rehabilitation training process with high repeatability and high labor intensity, and is favorable for improving the rehabilitation training effect.

Although the present invention is directed to a method and system for sensing force position of a two-degree-of-freedom limb joint, and a finger joint constituting two degrees of freedom is taken as an example in the embodiment, the scope of the present invention is not limited to a human hand, and the present invention can be applied to an upper limb and a lower limb constituting two degrees of freedom, a hip joint and a wrist joint, a shoulder joint, and the like, as long as the limb constituting two degrees of freedom of a human body is applicable.

While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims

1. A force position sensing method facing two-degree-of-freedom limb joint is characterized by comprising the following steps:

step S100, obtaining the expected rotation angle of the mandrel based on the first angle detection component

Obtaining

，

-

(ii) a The mandrel is a connecting shaft of the driving mechanism and the motion executing mechanism;

step S200, if

Judging that the motion part of the two-degree-of-freedom limb joint does not generate blocking force, wherein the motion track of the two-degree-of-freedom limb joint is a preset motion track;

if it is

If yes, judging that the motion part of the two-degree-of-freedom limb joint generates blocking force, and executing the step S300;

And

a size of and

and

the size of (a); and/or, determining

And

size of and

and

the size of (a);

if it is

＜

，

＜

；

If it is

＜

，

=

The master control center controls the linear motor to stop;

if it is

=

，

＜

；

And/or, if

＜

，

＜

；

If it is

＜

，

=

The master control center controls the linear motor to stop;

if it is

=

，

＜

。

2. The force-position sensing method for two-degree-of-freedom limb joint according to claim 1,

；

；

；

；

；

；

3. The force-position sensing method for two-degree-of-freedom limb joint according to claim 2,

；

；

；

；

；

；

；

；

；

；

=

；

；

；

；

；

；

；

is a linear electricityThe rotation angle of the machine;

4. The force and position sensing method for two-degree-of-freedom limb joint according to claim 3, wherein the linear motor is fixedly arranged in the first region of the two-degree-of-freedom limb joint;

the first guide rail assembly comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the first sliding block and the top of the first guide rail are movably arranged, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure;

the second guide rail assembly comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail are movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure;

the longitudinal axis of the first guide rail assembly and the longitudinal axis of the second guide rail assembly are arranged in parallel with the longitudinal axis of the rack; the longitudinal axis of the rotating motor is perpendicular to the longitudinal axis of the rack;

a first connecting lug and a second connecting lug are respectively arranged on two sides of the tail end of the rack, a first connecting shaft and a second connecting shaft are arranged on the side part of the bearing structure, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug;

5. The force-position sensing method for two-degree-of-freedom limb joint according to claim 4, wherein a longitudinal axis of the linear displacement sensor is arranged in parallel with a longitudinal axis of the rack to detect a linear displacement of the rotary motor.

6. The method for sensing force position facing a two degree-of-freedom limb joint of claim 5, wherein the bearing structure comprises a first base plate, a second base plate, a first bracket, a second bracket, a first L-shaped plate and a second L-shaped plate, the first bracket is arranged at the end of the first base plate far away from the second base plate, and the second bracket is arranged between the first base plate and the second base plate; the first L-shaped plate and the second L-shaped plate are arranged at the end part, far away from the first bottom plate, of the second bottom plate, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening; the first bottom plate is used for bearing the rotating motor;

a spherical connecting rod mechanism is arranged between the power output end of the rotating motor and the mandrel, the spherical connecting rod mechanism comprises a first spherical connecting rod, a second spherical connecting rod and a third spherical connecting rod, and one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axial extension line of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing tracks of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod move along the sphere;

7. The force position sensing method facing the two-degree-of-freedom limb joint as recited in claim 6, wherein a sleeve cross hinge is sleeved on the outer side of the mandrel, the sleeve cross hinge comprises a sleeve body, a first protrusion, a second protrusion, a first arc-shaped hole, a second arc-shaped hole and a third arc-shaped hole, and the first protrusion is arranged at the top of the sleeve body to be connected with the first L-shaped plate; the second bulge is arranged at the bottom of the sleeve body and connected with the second L-shaped plate; the first arc-shaped hole is used for penetrating the bulge part; the second arc-shaped hole and the third arc-shaped hole are used for the first swinging rod of the motion executing mechanism to penetrate; the first angle detection assembly and the second angle detection assembly are respectively arranged at two ends of the sleeve body.

8. The force position sensing method facing the two-degree-of-freedom limb joint as recited in claim 7, wherein the motion actuator further comprises a second swing rod and a C-shaped block, the second swing rod is arranged between the first swing rod and the C-shaped block, and the end of the second swing rod is hinged with a hinge shaft arranged on the C-shaped block;

9. The force-position sensing method for two-degree-of-freedom limb joint according to claim 8, wherein the mandrel is a waist-shaped mandrel;

the first swinging rod comprises a first structure and a second structure, and the first structure and the second structure form a C-shaped rod structure; a first waist-shaped hole penetrating through the mandrel is formed in the free end of the first structure; a second waist-shaped hole penetrating through the mandrel is formed in the free end of the second structure; the first waist-shaped hole and the second waist-shaped hole are symmetrically arranged relative to the Archimedes spiral spring;

the second swinging rod is of an arc-shaped structure;

the first angle detection assembly comprises a first magnetic resistance angle sensor and a first rubidium magnet magnetic ring, the first magnetic resistance angle sensor is arranged at one end of the cross hinge of the sleeve, and the first rubidium magnet magnetic ring is sleeved on the waist-shaped shaft and clings to the sleeve part; the second angle detection assembly comprises a second magnetic resistance angle sensor and a second rubidium magnet magnetic ring, the second magnetic resistance angle sensor is arranged at the other end of the sleeve cross hinge, and the second rubidium magnet magnetic ring is sleeved on the waist-shaped shaft;

a roller bearing is arranged between the second rubidium magnet magnetic ring and the second structure;

a first sliding bearing is arranged between the second structure and the Archimedes spiral spring;

a second sliding bearing is arranged between the Archimedes spiral spring and the first structure;

10. A force and position sensing system facing to a two-degree-of-freedom limb joint is characterized by comprising a master control center, a linear motor, a rack assembly, a linear displacement sensor, a first angle detection assembly, a second angle detection assembly, a rotary motor, a bearing structure, a first guide rail assembly, a second guide rail assembly, a spherical connecting rod mechanism and a motion executing mechanism, wherein the linear motor, the linear displacement sensor, the first angle detection assembly, the second angle detection assembly and the rotary motor are in signal connection with the master control center; the bearing structure is used for bearing the rotating motor; the motion executing mechanism drives the motion part of the two-degree-of-freedom limb joint to swing under the driving of the linear motor, drives the motion part of the two-degree-of-freedom limb joint to bend and extend under the driving of the rotary motor, or drives the motion part of the two-degree-of-freedom limb joint to do conical motion under the simultaneous driving of the linear motor and the rotary motor;

the first guide rail assembly comprises a first guide rail and a first sliding block, the first guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the first sliding block and the top of the first guide rail are movably arranged, and the top of the first sliding block is fixedly connected with the bottom of the bearing structure; the second guide rail assembly comprises a second guide rail and a second sliding block, the second guide rail is fixedly arranged in a first area of the two-degree-of-freedom limb joint, the bottom of the second sliding block and the top of the second guide rail are movably arranged, and the top of the second sliding block is fixedly connected with the bottom of the bearing structure;

the linear motor is fixedly arranged in a first area of the two-degree-of-freedom limb joint; the output end of the linear motor is fixedly provided with a gear; the rack component comprises a rack meshed with the gear and a rack bracket fixedly arranged in a first area of the two-degree-of-freedom limb joint; a first connecting lug and a second connecting lug are respectively arranged on two sides of the tail end of the rack, a first connecting shaft and a second connecting shaft are arranged on the side part of the bearing structure, and the first connecting shaft and the second connecting shaft respectively penetrate through the first connecting lug and the second connecting lug; a first spring, a second spring, a third spring and a fourth spring with consistent parameters are respectively sleeved on the shaft section between the bearing structure and the first connecting lug, the shaft section between the first connecting lug and the tail end limit of the first connecting shaft, the shaft section between the bearing structure and the second connecting lug and the shaft section between the second connecting lug and the tail end limit of the second connecting shaft;

the linear displacement sensor is used for detecting the actual linear displacement of the rotating motor;

a first L-shaped plate and a second L-shaped plate are arranged at the end part of the bearing structure, and the first L-shaped plate and the second L-shaped plate form a C-shaped structure with an outward opening;

the spherical connecting rod mechanism comprises a first spherical connecting rod, a second spherical connecting rod and a third spherical connecting rod, and one end of the first spherical connecting rod, which is far away from the second spherical connecting rod, is fixedly connected with the power output end of the rotating motor; the power output shaft of the rotating motor, the hinged shaft of the first spherical connecting rod and the second spherical connecting rod, and the axial extension line of the hinged shaft of the second spherical connecting rod and the third spherical connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing tracks of the first spherical connecting rod, the second spherical connecting rod and the third spherical connecting rod move along the sphere;